JP2002048589A - Moving route estimation device for mobile - Google Patents
Moving route estimation device for mobileInfo
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- JP2002048589A JP2002048589A JP2000235827A JP2000235827A JP2002048589A JP 2002048589 A JP2002048589 A JP 2002048589A JP 2000235827 A JP2000235827 A JP 2000235827A JP 2000235827 A JP2000235827 A JP 2000235827A JP 2002048589 A JP2002048589 A JP 2002048589A
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- state
- data
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Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、移動体に取り付け
た各種センサ情報を融合することにより移動経路、移動
状態、移動手段などを推定する移動体の移動経路推定装
置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving path estimating apparatus for estimating a moving path, a moving state, a moving means, and the like by fusing various kinds of sensor information attached to a moving body.
【０００２】[0002]
【従来の技術】従来から、ＰＨＳ（Personal Handy Pho
ne System）やＧＰＳ（Global Positioning System）を
利用して移動体の移動経路を計測する装置や、歩数計・
カロリーメーターのような身体の揺れを検出して移動体
の行動を把握する装置がある。2. Description of the Related Art Conventionally, PHS (Personal Handy Pho
ne system) or GPS (Global Positioning System) to measure the moving path of a moving object, a pedometer,
There is a device such as a calorie meter for detecting the movement of the body by detecting the shaking of the body.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、上記従
来の装置では、移動体の２次元的な移動経路しか得るこ
とができず、移動手段の特定が不可能であった。また、
歩数計・カロリーメーターは、閾値以上の身体加速度を
検出して動作を把握するものであり、厳密な行動調査は
不可能であった。したがって、移動体の厳密な行動調査
や３次元的な移動経路、移動状態、移動手段を推定する
ことが困難であった。However, in the above-mentioned conventional apparatus, only a two-dimensional moving path of the moving body can be obtained, and it is impossible to specify the moving means. Also,
The pedometer and calorie meter detect the body acceleration by detecting the body acceleration equal to or higher than the threshold, and it was impossible to conduct a strict behavior survey. Therefore, it has been difficult to strictly investigate the behavior of the moving body and estimate a three-dimensional moving route, moving state, and moving means.
【０００４】本発明は上記課題を解決するためになされ
たものであり、その目的とするところは、３次元的な移
動経路、移動状態、移動手段を推定することが可能な移
動体の移動経路推定装置を提供することにある。SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a three-dimensional moving path, a moving state, and a moving path of a moving body capable of estimating a moving means. An object of the present invention is to provide an estimation device.
【０００５】[0005]
【課題を解決するための手段】本発明は、前記目的を達
成するために以下に示す手段を用いている。The present invention uses the following means to achieve the above object.
【０００６】本発明の移動体の移動経路推定装置は、移
動体の動作状態を計測する第１の計測装置と、前記移動
体の２次元的な位置情報を計測する第２の計測装置と、
前記第１および第２の計測装置により取得されたデータ
を記憶する記憶装置とを有する携帯型装置と、前記携帯
型装置の前記記憶装置に記憶されたデータから前記移動
体の３次元的な移動経路、移動状態、移動手段を解析す
る解析装置とを具備している。A moving path estimating device for a moving object according to the present invention comprises: a first measuring device for measuring an operation state of the moving object; a second measuring device for measuring two-dimensional position information of the moving object;
A portable device having a storage device for storing data acquired by the first and second measuring devices, and a three-dimensional movement of the mobile object from data stored in the storage device of the portable device An analyzer for analyzing a route, a moving state, and a moving means is provided.
【０００７】前記解析装置は、前記移動状態および前記
移動手段の違いによる特徴を表した特徴データを有して
いる。[0007] The analysis device has feature data representing features depending on the moving state and the moving means.
【０００８】[0008]
【発明の実施の形態】本発明の特徴は、移動体の動作状
態を時系列的に把握することで、３次元的な移動経路、
移動状態、移動手段を推定することにある。ここで、３
次元的な移動経路の推定とは、ビル内で階段やエレベー
ター昇降により、何階にいるのかまでも推定することを
いう。移動状態の推定とは、静止しているのか移動中な
のかを判断し、移動中の場合はどのような交通機関を利
用した移動なのか、あるいは徒歩、走行、階段昇降、エ
レベーター、転倒なのかを推定することをいう。移動手
段の推定とは、電車、地下鉄、モノレール、バス、乗用
車、バイク、自転車などを推定することをいう。以下、
図面を参照して本発明の実施の形態を説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The feature of the present invention is that a moving state of a moving body is grasped in a time-series manner so that a three-dimensional moving path can be obtained.
It is to estimate a moving state and a moving means. Where 3
Estimation of a dimensional moving route refers to estimating how many floors are in a building by moving up and down stairs and elevators. Estimation of the movement state is to judge whether it is stationary or moving, and if so, what kind of transportation is used, or whether it is walking, running, climbing stairs, elevator, falling Is estimated. Estimating the means of transportation means estimating trains, subways, monorails, buses, passenger cars, motorcycles, bicycles, and the like. Less than,
An embodiment of the present invention will be described with reference to the drawings.
【０００９】図１は、本発明の実施の形態に係る移動体
の移動経路推定装置のシステムブロック図を示してい
る。FIG. 1 shows a system block diagram of a moving path estimating apparatus for a moving object according to an embodiment of the present invention.
【００１０】図１において、１は本発明の携帯型装置、
１３は本発明の解析装置となるＰＣ（Personal Compute
r）である。携帯型装置１において、２は加速度セン
サ、３は角速度センサ、４は大気圧センサ、５はＧＰＳ
（Global Positioning System）、６はＰＨＳ（Persona
l Handy Phone System）である。７はセンサ情報を処理
するためのＣＰＵ、８はＣＰＵ７の処理結果を記憶する
メモリ、９はＣＰＵ７の処理結果を表示する表示器であ
る。１０は携帯型装置１からＰＣ（Personal Compute
r）１３にデータを転送するためのデータ転送用インタ
ーフェース、１１は携帯型装置１から受信機（図示せ
ず）にデータを発信するための送信機、１２は携帯型装
置１の電源となるバッテリーである。In FIG. 1, 1 is a portable device of the present invention,
Reference numeral 13 denotes a PC (Personal Compute) serving as the analysis apparatus of the present invention.
r). In the portable device 1, 2 is an acceleration sensor, 3 is an angular velocity sensor, 4 is an atmospheric pressure sensor, and 5 is a GPS.
(Global Positioning System), 6 is PHS (Persona
l Handy Phone System). 7, a CPU for processing the sensor information; 8, a memory for storing the processing results of the CPU 7; and 9, a display for displaying the processing results of the CPU 7. Reference numeral 10 denotes a personal computer (PC) from the portable device 1.
r) a data transfer interface for transferring data to 13; 11 a transmitter for transmitting data from the portable device 1 to a receiver (not shown); 12 a battery serving as a power source for the portable device 1 It is.
【００１１】上記本発明の移動体の移動経路推定装置に
おいて、加速度センサ２、角速度センサ３、大気圧セン
サ４を用いて移動体の動作状態が計測され、図４に示す
ようなアナログデータが取得される。また、ＧＰＳ５、
ＰＨＳ６を用いて移動体の２次元的な位置が計測され、
アナログデータが取得される。これらのアナログデータ
はＣＰＵ７に伝達され、デジタルデータに変換される。
この変換されたデジタルデータは、メモリ８に記憶さ
れ、さらに表示器９で表示される。また、ＣＰＵ７によ
り携帯型装置１内の種々の装置が制御されている。In the moving object estimating apparatus of the present invention, the operating state of the moving object is measured using the acceleration sensor 2, the angular velocity sensor 3, and the atmospheric pressure sensor 4, and the analog data as shown in FIG. Is done. Also, GPS5,
The two-dimensional position of the moving object is measured using PHS6,
Analog data is obtained. These analog data are transmitted to the CPU 7 and converted into digital data.
The converted digital data is stored in the memory 8 and displayed on the display 9. Various devices in the portable device 1 are controlled by the CPU 7.
【００１２】また、携帯型装置１のメモリ８に記憶され
たデータはＰＣ１３に転送される。ＰＣ１３へのデータ
転送方法としては、メモリ８が抜き差し可能なデバイス
（メモリカードなど）の場合、メモリ８を携帯型装置１
から取り外し、ＰＣ１３に取り付けることによってＰＣ
１３内にデータが転送される。また、データ転送用イン
ターフェース１０を使用することでＰＣ１３にデータが
転送されてもよい。ここで、データ転送用インターフェ
ース１０としては、たとえば、ＲＳ２３２Ｃ、ＩｒＤ
Ａ、ＵＳＢデバイスなどが用いられる。このようにデー
タが転送されるＰＣ１３には、移動体の移動状態および
移動手段の違いによるパワースペクトルの特徴データ
と、地図情報とが備えられている。そして、転送された
データを用いてＰＣ１３内で詳細なデータ処理、データ
蓄積、グラフィック表示などが行われる。The data stored in the memory 8 of the portable device 1 is transferred to the PC 13. As a method of transferring data to the PC 13, when the memory 8 is a removable device (such as a memory card), the memory 8 is transferred to the portable device 1.
From PC and attach to PC13
The data is transferred in. Further, data may be transferred to the PC 13 by using the data transfer interface 10. Here, as the data transfer interface 10, for example, RS232C, IrD
A and USB devices are used. The PC 13 to which the data is transferred is provided with power spectrum characteristic data according to the moving state of the moving object and the difference in the moving means, and the map information. Then, detailed data processing, data storage, graphic display, and the like are performed in the PC 13 using the transferred data.
【００１３】尚、本発明の最小構成は、加速度センサ２
（または角速度センサ３）、ＧＰＳ５（またはＰＨＳ
６）、ＣＰＵ７、メモリ８、バッテリー１２、ＰＣ１３
である。センサ情報は多いほど移動体の動作状態などの
推定結果は正確になるが、この最小構成でも本発明は実
現可能である。The minimum configuration of the present invention is the acceleration sensor 2
(Or angular velocity sensor 3), GPS5 (or PHS)
6), CPU 7, memory 8, battery 12, PC 13
It is. The more the sensor information is, the more accurate the estimation result such as the operation state of the moving object is.
【００１４】図２は、携帯型装置の使用例を示してい
る。図２に示すように、ＧＰＳ用衛星１４やＰＨＳアン
テナ１５から、携帯型装置１を携帯した移動体の２次元
的な位置情報が取得され、この取得された位置情報が携
帯型装置１から受信機１６に発信される。この受信機１
６としては、たとえば、ＰＨＳ、携帯電話、専用受信機
などが用いられる。一方、携帯型装置１で蓄積されたデ
ータは、メモリカード（メモリ）８を介してＰＣ１３に
転送され、このＰＣ１３内のパワースペクトルの特徴デ
ータと地図情報とを用いて、移動体の移動経路や移動手
段の表示、記録、詳細解析が行われる。FIG. 2 shows an example of using a portable device. As shown in FIG. 2, two-dimensional position information of a mobile object carrying the portable device 1 is acquired from the GPS satellite 14 and the PHS antenna 15, and the acquired position information is received from the portable device 1. Is transmitted to the device 16. This receiver 1
As P6, for example, a PHS, a mobile phone, a dedicated receiver, or the like is used. On the other hand, the data stored in the portable device 1 is transferred to the PC 13 via the memory card (memory) 8, and using the characteristic data of the power spectrum and the map information in the PC 13, Display, recording, and detailed analysis of the means of transportation are performed.
【００１５】図３は、データ処理の流れを示している。
図３に示すように、ＰＨＳ６やＧＰＳ５により移動体の
位置が特定され、加速度センサ２、角速度センサ３、大
気圧センサ４により移動体の動作状態が推定される。こ
れらの結果を融合してデータの処理が行われ、移動体の
移動経路、移動状態、移動手段が推定される。FIG. 3 shows the flow of data processing.
As shown in FIG. 3, the position of the moving body is specified by the PHS 6 and the GPS 5, and the operation state of the moving body is estimated by the acceleration sensor 2, the angular velocity sensor 3, and the atmospheric pressure sensor 4. Data processing is performed by fusing these results, and the moving route, moving state, and moving means of the moving body are estimated.
【００１６】この際、ＧＰＳ５は、建物内、地下街など
の衛星からの電波が到達しないところ以外はどこでも位
置特定が可能である。ＰＨＳ６は、ＰＨＳアンテナが設
置されている領域であれば位置特定が可能である。つま
り、ＰＨＳ６を用いれば建物内、地下街などでも位置特
定が可能となる。したがって、ＧＰＳ５とＰＨＳ６は、
併用若しくは使用場所に応じて使い分けるとよい。At this time, the position of the GPS 5 can be specified anywhere except a place where radio waves from satellites do not reach, such as in a building or an underground mall. The position of the PHS 6 can be specified in an area where the PHS antenna is installed. That is, if the PHS 6 is used, the position can be specified in a building, an underground mall, and the like. Therefore, GPS5 and PHS6 are
It is good to use together or according to the place of use.
【００１７】また、加速度センサ２、角速度センサ３
は、波形振幅の大きさによって動作状態かどうかを判断
することができる。大気圧センサ４は、レベル変化率か
ら上下移動を推定することができ、エレベーター、階段
昇降の動作を推定することが可能である。The acceleration sensor 2 and the angular velocity sensor 3
Can determine whether or not it is in an operation state based on the magnitude of the waveform amplitude. The atmospheric pressure sensor 4 can estimate the vertical movement from the level change rate, and can estimate the operation of moving up and down stairs.
【００１８】図４は、歩行と電車による加速度センサ波
形の違いを示している。図４に示すように、移動体の移
動状態を加速度センサ２により計測した結果、移動体が
電車に乗車している場合と歩行している場合とでは加速
度センサ２の波形に違いが生じている。つまり、移動体
が電車に乗車している場合は加速度センサ２の波形振幅
の変化量は小さく、移動体が歩行している場合は加速度
センサ２の波形振幅の変化量は大きくなっている。FIG. 4 shows the difference between the acceleration sensor waveforms for walking and the train. As shown in FIG. 4, as a result of measuring the moving state of the moving body with the acceleration sensor 2, there is a difference between the waveform of the acceleration sensor 2 when the moving body is on a train and when it is walking. . That is, when the moving object is on the train, the change amount of the waveform amplitude of the acceleration sensor 2 is small, and when the moving object is walking, the change amount of the waveform amplitude of the acceleration sensor 2 is large.
【００１９】図５は、移動状態・手段の違いによるパワ
ースペクトルの波形特徴を示している。図４に示す加速
度センサ２により計測されたデータを用いてパワースペ
クトルによる分析を行った結果、図５に示すように、移
動体の移動状態・手段（自転車、地下鉄、モノレール、
静止）の違いによってパワースペクトルの波形に違いが
生じている。つまり、移動手段が自転車の場合は、全体
的にパワースペクトルの強度が高く、パワースペクトル
の波形の変化量が大きい。移動手段が地下鉄およびモノ
レールの場合と移動体が静止状態の場合とは、パワース
ペクトルの波形の変化量が小さい。なお、モノレールと
静止とのパワースペクトルの波形は非常に似ているが、
ＧＰＳ５（またはＰＨＳ６）による位置情報を用いるこ
とにより、モノレールと静止との区別は可能である。FIG. 5 shows the waveform characteristics of the power spectrum depending on the moving state and the means. As a result of analyzing the power spectrum using the data measured by the acceleration sensor 2 shown in FIG. 4, as shown in FIG. 5, the moving state / means (bicycle, subway, monorail,
The difference in the power spectrum results from the difference in the stationary state. That is, when the vehicle is a bicycle, the intensity of the power spectrum is high as a whole, and the amount of change in the power spectrum waveform is large. The amount of change in the power spectrum waveform is small when the moving means is a subway or a monorail and when the moving body is stationary. In addition, although the power spectrum waveforms of the monorail and the stationary are very similar,
By using the position information by GPS5 (or PHS6), it is possible to distinguish between monorail and stationary.
【００２０】上記図４、図５に示すように、加速度セン
サにより計測されたデータの波形振幅の特徴や、パワー
スペクトルの波形特徴は、移動体の移動状態や移動手段
によって異なったものとなる。これらの特徴データはＰ
Ｃ１３内に備えられており、これらの特徴データとＰＣ
１３内で携帯型装置１により計測したデータとを比較し
て、データを解析している。As shown in FIGS. 4 and 5, the characteristics of the waveform amplitude of the data measured by the acceleration sensor and the waveform characteristics of the power spectrum differ depending on the moving state of the moving body and the moving means. These feature data are P
These feature data and PC are provided in C13.
The data is analyzed by comparing the measured data with the data measured by the portable device 1 in the apparatus 13.
【００２１】図６は、データ解析のアルゴリズムを示し
ている。以下、図６を参照して、ＰＣ内で移動体の移動
状態、移動手段を解析する方法について説明する。FIG. 6 shows an algorithm for data analysis. Hereinafter, with reference to FIG. 6, a method of analyzing the moving state and moving means of the moving object in the PC will be described.
【００２２】まず、加速度センサ２（または角速度セン
サ３）の変化量が小さいがどうかが判断され（ＳＴ
１）、加速度センサ２の変化量が小さい場合は、移動体
の移動状態・手段は静止状態またはエレベーターである
と推定される（ＳＴ２）。一方、加速度センサ２の変化
量が大きい場合は、ＧＰＳ５（またはＰＨＳ６）を用い
て移動体の位置変化があるかどうかが判断される（ＳＴ
３）。その結果、位置変化がない場合は、上記と同様
に、移動体の移動状態・手段は静止状態またはエレベー
ターであると推定される（ＳＴ２）。さらに、大気圧セ
ンサ４の情報などを用いることにより、移動体が静止状
態であるか、エレベーター昇降中であるかの区別が行わ
れる。First, it is determined whether the amount of change of the acceleration sensor 2 (or the angular velocity sensor 3) is small (ST).
1) If the change amount of the acceleration sensor 2 is small, it is estimated that the moving state / means of the moving body is a stationary state or an elevator (ST2). On the other hand, if the amount of change of the acceleration sensor 2 is large, it is determined whether or not there is a change in the position of the moving object using the GPS 5 (or PHS 6) (ST).
3). As a result, when there is no change in position, it is estimated that the moving state / means of the moving body is a stationary state or an elevator, similarly to the above (ST2). Further, by using information of the atmospheric pressure sensor 4 and the like, it is possible to determine whether the moving body is in a stationary state or is moving up and down the elevator.
【００２３】また、移動体の位置変化がある場合は、加
速度センサ２（または角速度センサ３）の変化量が規定
値以下であるかどうかが判断される（ＳＴ４）。その結
果、規定値以上の場合は、移動体の移動状態・手段は歩
行、走行、自転車、階段のいずれかであると推定され、
ＧＰＳ５（またはＰＨＳ６）による位置情報や加速度セ
ンサ２（または角速度センサ３）によるセンサ波形か
ら、歩行、走行、自転車、階段のいずれかに特定される
（ＳＴ５）。If there is a change in the position of the moving body, it is determined whether the amount of change of the acceleration sensor 2 (or the angular velocity sensor 3) is equal to or smaller than a specified value (ST4). As a result, if the value is equal to or greater than the specified value, the moving state / means of the moving object is estimated to be one of walking, running, cycling, and stairs,
From the position information obtained by the GPS 5 (or PHS 6) and the sensor waveform obtained by the acceleration sensor 2 (or the angular velocity sensor 3), any one of walking, running, cycling, and stairs is specified (ST5).
【００２４】また、加速度センサ２の変化量が規定値以
下である場合は、加速度センサ２（または角速度センサ
３）によるパワースペクトルが高周波領域に分布してい
るかどうかが判断される（ＳＴ６）。その結果、パワー
スペクトルが高周波領域（例えば１６Ｈｚ）に分布して
いる場合は、移動体の移動手段は乗用車であると推定さ
れる（ＳＴ７）。If the amount of change of the acceleration sensor 2 is equal to or smaller than the specified value, it is determined whether the power spectrum of the acceleration sensor 2 (or the angular velocity sensor 3) is distributed in a high frequency region (ST6). As a result, when the power spectrum is distributed in a high frequency region (for example, 16 Hz), it is estimated that the moving means of the moving body is a passenger car (ST7).
【００２５】また、パワースペクトルが高周波領域に分
布していない場合は、加速度センサ２（または角速度セ
ンサ３）によるパワースペクトルが低周波領域に分布し
ているかどうかが判断される（ＳＴ８）。その結果、パ
ワースペクトルが低周波領域（例えば２乃至４Ｈｚ）に
分布している場合は、移動体の移動手段はバスであると
推定される（ＳＴ９）。一方、パワースペクトルが低周
波領域に分布していない場合は、移動体の移動手段は電
車、地下鉄、モノレールのいずれかであると推定され、
ＧＰＳ５（またはＰＨＳ６）による位置情報や加速度セ
ンサ２（または角速度センサ３）によるセンサ波形か
ら、電車、地下鉄、モノレールのいずれかに特定される
（ＳＴ１０）。If the power spectrum is not distributed in the high frequency region, it is determined whether or not the power spectrum by the acceleration sensor 2 (or the angular velocity sensor 3) is distributed in the low frequency region (ST8). As a result, when the power spectrum is distributed in a low frequency region (for example, 2 to 4 Hz), it is estimated that the moving means of the moving body is a bus (ST9). On the other hand, if the power spectrum is not distributed in the low frequency region, it is estimated that the moving means of the moving object is a train, a subway, or a monorail,
From the position information by the GPS 5 (or the PHS 6) and the sensor waveform by the acceleration sensor 2 (or the angular velocity sensor 3), it is specified as any of a train, a subway, and a monorail (ST10).
【００２６】上記本発明の実施の形態によれば、加速度
センサ２、角速度センサ３、大気圧センサ４などから移
動体の動作状態が計測され、ＰＨＳ６電界強度、ＧＰＳ
５などから移動体の位置が計測される。これら各種の計
測情報をＰＣ１３内で融合することにより、移動経路、
移動手段の特定（電車、地下鉄、モノレール、バス、乗
用車、バイク、自転車など）や移動状態（徒歩、走行、
階段昇降、エレベーター、転倒など）を推定できる。つ
まり、本発明の移動体の移動経路推定装置によれば、３
次元的な移動経路、移動状態、移動手段を推定すること
が可能となる。According to the embodiment of the present invention, the operating state of the moving body is measured from the acceleration sensor 2, the angular velocity sensor 3, the atmospheric pressure sensor 4, and the like, and the PHS6 electric field strength, GPS
The position of the moving object is measured from 5 or the like. By fusing these various types of measurement information in the PC 13, the travel route,
The means of transportation (trains, subways, monorails, buses, cars, motorbikes, bicycles, etc.) and the state of travel (walking, running,
Stairs, elevators, falls, etc.) can be estimated. That is, according to the moving route estimation device for a moving object of the present invention, 3
It is possible to estimate a dimensional moving route, moving state, and moving means.
【００２７】また、従来のように閾値以上の身体加速度
を検出する必要がなく、加速度センサ２により計測され
たデータの波形振幅の特徴や、パワースペクトルの波形
特徴を用いて、ＰＣ１３内において移動体の移動状態や
移動手段を解析している。したがって、移動体の厳密な
行動調査が可能となる。Further, it is not necessary to detect a body acceleration equal to or higher than a threshold value as in the prior art. It analyzes the moving state and means of moving. Therefore, a strict behavioral investigation of the moving body is possible.
【００２８】このように、本発明によって移動体の移動
状態を詳細に知ることができるため、移動方法の問題把
握・最適化を図ることができる。たとえば、本発明の移
動体の移動経路推定装置を用いて、大規模イベント時の
交通行動調査を行うことにより、イベント開催時の交通
計画が可能となる。また、駐車場のアクセス経路調査を
行うことにより、駐車場案内システムの提供が可能とな
る。また、高齢者・障害者の交通行動調査を行うことに
より、バリアフリーな交通施設計画が可能となる。ま
た、中心市街地におけるうろつき行動調査を行うことに
より、ショッピングモール改装計画を立てることが可能
となる。また、大規模小売店舗来場者の交通行動調査を
行うことにより、店舗配置計画、周辺の交通処理計画を
立てることが可能となる。このように、現実的な都市計
画、パーソントリップ調査が可能になる。As described above, according to the present invention, the moving state of the moving body can be known in detail, so that the problem of the moving method can be grasped and optimized. For example, by conducting a traffic behavior survey at the time of a large-scale event using the apparatus for estimating the moving route of a moving object of the present invention, a traffic plan at the time of holding an event becomes possible. In addition, by conducting a parking lot access route survey, a parking lot guidance system can be provided. In addition, by conducting traffic behavior surveys for the elderly and the disabled, barrier-free transportation facility planning becomes possible. In addition, by conducting a wandering behavior survey in the central city area, it becomes possible to make a shopping mall renovation plan. In addition, by conducting a traffic behavior survey of large-scale retail store visitors, it becomes possible to make a store layout plan and a surrounding traffic processing plan. In this way, realistic city planning and person trip surveys become possible.
【００２９】なお、携帯型装置１のＰＨＳ６や送信機１
１から他の受信機にデータが発信されてもよい。これに
より、移動体の動作状態を他の受信機でモニタすること
ができるため、徘徊高齢者の探索に利用できる。また、
タクシー無線を利用したサービスの提供が可能となる。The PHS 6 of the portable device 1 and the transmitter 1
Data may be transmitted from one to another receiver. As a result, the operation state of the moving object can be monitored by another receiver, and can be used for searching for wandering elderly people. Also,
It is possible to provide services using taxi radio.
【００３０】その他、本発明は、その要旨を逸脱しない
範囲で、種々変形して実施することが可能である。In addition, the present invention can be variously modified and implemented without departing from the gist thereof.
【００３１】[0031]
【発明の効果】以上説明したように本発明によれば、３
次元的な移動経路、移動状態、移動手段を推定すること
が可能な移動体の移動経路推定装置を提供できる。As described above, according to the present invention, 3
A moving path estimating apparatus for a moving object capable of estimating a dimensional moving path, a moving state, and a moving means can be provided.
【図１】本発明の実施の形態に係わる移動体の移動経路
推定装置を示すシステムブロック図。FIG. 1 is a system block diagram showing an apparatus for estimating a moving path of a moving object according to an embodiment of the present invention.
【図２】本発明の移動体の移動経路推定装置の使用例を
示す図。FIG. 2 is a diagram illustrating an example of use of a moving route estimation device for a moving object according to the present invention.
【図３】本発明のデータ処理の流れを示す図。FIG. 3 is a diagram showing a flow of data processing of the present invention.
【図４】歩行と電車による加速度センサ波形の違いを示
す図。FIG. 4 is a diagram showing a difference in waveform of an acceleration sensor between walking and a train.
【図５】移動状態・手段の違いによるパワースペクトル
の波形特徴を示す図。FIG. 5 is a diagram showing a waveform characteristic of a power spectrum depending on a difference in a moving state / means.
【図６】本発明のＰＣ内でのデータ解析方法を示す図。FIG. 6 is a view showing a data analysis method in a PC according to the present invention.
１…携帯型装置、 ２…加速度センサ、 ３…角速度センサ、 ４…大気圧センサ、 ５…ＧＰＳ、 ６…ＰＨＳ、 ７…ＣＰＵ、 ８…メモリ、 ９…表示器、 １０…データ転送用インターフェース、 １１…送信機、 １２…バッテリー、 １３…ＰＣ、 １４…ＧＰＳ用衛星、 １５…ＰＨＳアンテナ、 １６…受信機。 DESCRIPTION OF SYMBOLS 1 ... Portable apparatus, 2 ... Acceleration sensor, 3 ... Angular velocity sensor, 4 ... Atmospheric pressure sensor, 5 ... GPS, 6 ... PHS, 7 ... CPU, 8 ... Memory, 9 ... Display, 10 ... Data transfer interface, 11: transmitter, 12: battery, 13: PC, 14: GPS satellite, 15: PHS antenna, 16: receiver.
───────────────────────────────────────────────────── フロントページの続き (51)Int.Cl.7 識別記号 ＦＩ テーマコート゛(参考） Ｈ０４Ｑ 7/34 Ｈ０４Ｂ 7/26 １０６Ａ (72)発明者 川端 荘平 宮城県仙台市太白区向山２丁目36番４号 東北電子産業株式会社内 (72)発明者 大藤 武彦 大阪府大阪市中央区釣鐘町１丁目１番11号 株式会社都市交通計画研究所内 (72)発明者 李 竜煥 大阪府大阪市中央区釣鐘町１丁目１番11号 株式会社都市交通計画研究所内 Ｆターム(参考） 2F029 AA07 AB07 AC02 AC12 5H180 AA21 BB05 BB12 FF05 FF13 FF32 5J062 AA01 AA06 AA08 AA11 AA12 BB01 BB05 CC07 FF01 HH07 5K067 EE02 FF03 JJ52 JJ56 5K101 KK13 LL11 MM04 MM05 MM06 MM07 NN22 NN25 TT06 ──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. 7 Identification symbol FI Theme coat ゛ (Reference) H04Q 7/34 H04B 7/26 106A (72) Inventor Shohei Kawabata 2-36 Mukaiyama, Taishiro-ku, Sendai City, Miyagi Prefecture. No. 4 Tohoku Denshi Sangyo Co., Ltd. (72) Inventor Takehiko Ohto 1-1-11 Tsurigane-cho, Chuo-ku, Osaka-shi, Osaka Inside the Urban Traffic Planning Institute Co., Ltd. (72) Inventor Lee Ryuhan, Osaka-Chuo, Osaka 1-11, Tsurigane-cho, Ward F-term in Urban Transportation Planning Institute, Inc. (reference) KK13 LL11 MM04 MM05 MM06 MM07 NN22 NN25 TT06
Claims (2)
装置と、前記移動体の２次元的な位置情報を計測する第
２の計測装置と、前記第１および第２の計測装置により
取得されたデータを記憶する記憶装置とを有する携帯型
装置と、 前記携帯型装置の前記記憶装置に記憶されたデータから
前記移動体の３次元的な移動経路、移動状態、移動手段
を解析する解析装置とを具備することを特徴とする移動
体の移動経路推定装置。1. A first measuring device for measuring an operation state of a moving body, a second measuring device for measuring two-dimensional position information of the moving body, and the first and second measuring devices. A portable device having a storage device for storing the acquired data, and analyzing a three-dimensional moving path, a moving state, and a moving means of the moving body from the data stored in the storage device of the portable device. An apparatus for estimating a moving path of a moving object, comprising: an analyzing device.
記移動手段の違いによる特徴を表した特徴データを有す
ることを特徴とする請求項１記載の移動体の移動経路推
定装置。2. The moving path estimating apparatus for a moving object according to claim 1, wherein said analyzing apparatus has characteristic data representing characteristics of the moving state and the difference of the moving means.
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| JP2000235827A JP2002048589A (en) | 2000-08-03 | 2000-08-03 | Moving route estimation device for mobile |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2000235827A JP2002048589A (en) | 2000-08-03 | 2000-08-03 | Moving route estimation device for mobile |
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| JP2002048589A true JP2002048589A (en) | 2002-02-15 |
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